EP1731008B1 - Method and revolver-like equipping head for equipping substrates with electrical components - Google Patents

Description

The invention relates to a method and a placement head for equipping substrates with electrical components by means of a placement device comprising a chassis and a parallel to the substrate movable turret-like placement head with a stepwise rotatable rotor with rotatably arranged gripper units with rotatable spindles for holding the Components is provided, wherein the placement head has at least one rotary drive for the spindles and wherein the peripherally provided components are each sucked in a lifting position to the spindles and placed on the substrate.

Such a method is for example by the WO 2001047334 A become known, after which the components of feeders fetched components approximately pre-rotated in its touchdown position, optically measured at a scanning station and rotated at an in the direction of rotation of the rotor subsequently arranged turning station in their exact placement. By measuring the components is also possible to compensate for the orthogonal positional deviations by correcting the corresponding placement coordinates. The moving with the placement scanning station has space and weight reasons, a limited field of view, so that large components can not be detected. Furthermore, the contact surface of very thick components outside the scanning plane, so that even such components can not be equipped. Bulky components do not fit into the component orbit of the placement anyway.

Such components are typically handled, for example, by a placement head with a fixed gripper unit and a stationary scanning device anchored to the chassis measured, which is arranged between the feeders and the substrate. The duration of a placement cycle is correspondingly large. The stationary scanner is not subject to weight and space limitations. It is therefore also suitable for components that require increased positioning accuracy.

The invention has for its object to increase the spectrum of equippable with the turret-type placement head components to make a second placement unnecessary.

This object is achieved by the invention according to claims 1 and 5.

By the method according to claim 1, it is possible to handle with the turret-like placement head and components that can not be measured with the sampling station present at the placement. This means that these components, if they fit into the orbit of the placement, can be added in large numbers initially to the feeders for the components. The remaining spindles can be covered with normal sized components, which can be measured by the head-own scanning station to save time. Thereafter, the placement head moves over the anchored in the chassis stationary scanning device, at which the larger components are measured in a gradual sequence. Following this, all components held on the placement head can be placed on the substrate in a rotary circulation. This means that no additional traversing movements of the placement head are required for the individual larger components, as would be the case with a single head, which can now be completely dispensed with.

According to a development of the invention, one of the components can optically measured on the scanning and without further rotor rotation are placed on the substrate. This assumes that the placement head is equipped with a rotary drive for the spindle located in the placement position. By dispensing with a rotor rotation for this one component, a higher positioning accuracy can be achieved, which may be required for some types of components. This approach is also indicated for oversized components that are too bulky for the orbit in the placement head. It is understood that in this case the last free gripper unit picks up such a component from the corresponding feeder, measures over the scanning device and without any rotor rotation touches the substrate, whereupon the smaller components can be placed on the substrate.

According to another embodiment of the invention, a plurality of the sucked components are measured in immediate succession to the scanning device and placed on the substrate. This means that the components that can be passed through the orbit in the placement, but which are too large for the head-own scanning station, can be added in groups of adjacent gripper units. This makes it possible to measure these components in an uninterrupted sequence and set up on the substrate. The remaining smaller components are then also meaningfully added in a contiguous sequence of adjacent gripper units, measured in the placement head according to claim 4 and placed in an uninterrupted sequence on the substrate.

A device for positioning a component receiving unit of a placement machine for printed circuit boards, wherein an incremental encoder arrangement is provided for individual rotational positioning of a suction pipette about its own axis, is off DE 101 00 619 A known.

By the invention according to claim 5, it is possible to perform the component rotation during the rotor circulation after measuring the smaller components at the head-own scanning station. The last component measured on the stationary scanning device can remain in this rotor position and can be required by the associated rotary drive Aufsetzstellung be twisted with high accuracy.

Due to the rotatability of the rotor according to claim 6 in both directions of rotation, it is possible, for example, to position the last recorded larger components in the reverse direction of rotation over the stationary scanning device in an uninterrupted sequence in a time-saving manner. Due to the free selectability of the direction of rotation, it is possible, while maintaining this direction, first to sell the smaller components or to re-equip the larger components with a renewed direction of rotation first.

Figur 1

eine Stirnansicht eines revolverartigen Bestückkopfes mit elektrischen Bauelementen über einer Zuführeinrichtung für die Bauelemente,

Figur 2

eine Seitenansicht des Bestückkopfes nach Figur 1,

Figur 3

den Bestückkopf nach Figur 1 über einer anderen Zuführeinrichtung,

Figur 4

den Bestückkopf nach Figur 3 in einer anderen Ablaufphase,

Figur 5

den Bestückkopf nach Figur 1 über einer stationären optischen Abtasteinrichtung,

Figur 6

den Bestückkopf nach Figur 5 in einer nachfolgenden Ablaufphase,

Figur 7

den Bestückkopf nach Figur 1 mit einem Substrat,

Figur 8

den Bestückkopf nach Figur 7 in einer weiteren Ablaufphase.

In the following the invention will be explained in more detail with reference to an embodiment shown in the drawing. Shown schematically:

FIG. 1

an end view of a turret-like mounting head with electrical components on a feed device for the components,

FIG. 2

a side view of the placement after FIG. 1 .

FIG. 3

the placement head FIG. 1 over another feeder,

FIG. 4

the placement head FIG. 3 in another phase of the process,

FIG. 5

the placement head FIG. 1 over a stationary optical scanner,

FIG. 6

the placement head FIG. 5 in a subsequent process phase,

FIG. 7

the placement head FIG. 1 with a substrate,

FIG. 8

the placement head FIG. 7 in a further process phase.

After the Figures 1 and 2 is a turret-like placement head 1 by means of a positioning device not shown in detail of a placement in two horizontal coordinate directions X and Y displaced. The placement head 1 has a stator 2 and a rotor 3, which is rotatable by means of a motor 4 in fixed angular increments. The rotor is provided with star-shaped around its axis of rotation circumferentially arranged gripper units 5, which can be gradually rotated to a lower lifting station 6 or to a diametrically opposite, attached to the stator 2 upper optical scanning 7, wherein the lifting station 6 a lifting position of the radially oriented gripper units 5 defined.

The placement head 1 is located here above a feeding device 8 for electrical components 9 in a peripheral region of the placement device. In this case, the lower gripper unit 5 is directly above a smaller component to be picked up 9 and was pushed by the lifting station 6 in a vertical coordinate direction z down so far that they detect the device 9 by suction and could already lift out partially from the feeder 8. In the same way, two preceding gripper units 5 are already occupied by the components 9. Larger components 10 are provided in adjacent feeders 8. The components 9 of smaller design can be easily measured at the scanning station 7. The gripper unit 5 has a spindle 13 and a rotary drive 14 for defined rotation of the spindle 13 about its longitudinal axis, wherein the outer end face of the spindle 13 is provided with a suction opening, not shown, for the components 9 and 10

After the FIGS. 3 and 4 Although the larger components 10 can still be transported through the placement head through, but they are too thick or too long for the scanning station 7. Between two of the larger components 10 each one of the gripper units of components remains free to avoid mutual collision. The smaller components 9, which are received in immediate succession, can already be measured synchronously with the removal of the larger components 10 at the scanning station 7.

FIG. 4 shows the placement head 1 at the end of the component recording. Instead of one of the dash-dotted lines indicated large component 10, an oversized component 10 can be included here, which no longer fits through the placement head 1.

Subsequently, the placement head 1 after FIG. 5 via a stationary optical scanning device 11, which is anchored to a chassis 12 of the placement device. After picking up the last recorded component 10, the rotor 3 has not been further rotated, so that now this device can be measured by the first scanning device 11. By the gripper unit 5 associated rotary drive 14, it is possible to turn the occupied with the oversized component 10 spindle 13 so far that the device 10 is rotated in the required placement position and immediately on a substrate 15 (Fig. FIG. 7 ) can be placed. The dash-dotted lines indicated less large component 10 does not need to be placed immediately on the circuit board, but may initially remain on his gripper unit 5.

To FIG. 6 is the placement after placing the oversized component 10 on the substrate 15 (FIG. FIG. 7 ) returned to the scanning device 11 to measure the reverse of the rotor 3 successively the remaining of the large components 10, which can then be rotated by means of the individual rotary actuators 14 in its attachment position.

To FIGS. 7 and 8 can first be the larger components 10 then the smaller building elements 9 are placed on a substrate 15 in immediate succession with which the placement cycle is completed.

It is also possible to operate the cycle in a different order. For example, the large components 10 can already be measured before the oversized component 10 is picked up be so that the substrate 15 can be fitted in one revolution of the rotor 3 without interruption. Due to the possibility of forward and backward rotation of the rotor 3, depending on the type and number of components 9, 10 a different time-optimized mode can be selected.

reference numeral

1

placement

2

stator

3

rotor

4

engine

5

gripper unit

6

Lifting station

7

scanning

8th

feed

9

module

10

module

11

scanning

12

chassis

13

spindle

14

rotary drive

15

substratum

Claims (6)

1. Method for equipping substrates (15) with electrical components (9, 10) in an equipping device which comprises a chassis (12) and a revolver-like equipping head (1) displaceable parallel to the substrate (15) and with a progressively rotatable rotor (3) which is provided with circumferentially arranged gripper units (5) with rotatable spindles (13) for holding the components (9, 10), the equipping head (1) comprising at least one rotary drive (14) for the spindles (13) and the peripherally provided components (9, 10) in each case being drawn by suction in a lifting position onto the spindles (13), optically scanned and placed onto the substrate (15), characterised in that at least one of the suctioned components (10) is moved in the lifting position via an optical scanning device (11) anchored to the chassis (12), and in that the spindle (13) is rotated with the component (10) by the rotary drive (14) into a predetermined angular position and placed onto the substrate (15).
2. Method according to claim 1, characterised in that one of the components (10) is optically measured at the scanning device (11) and placed onto the substrate (15) without further rotation of the rotor.
3. Method according to claim 1 or 2, characterised in that a plurality of suctioned components (10) are measured in direct succession at the scanning device (11) and placed onto the substrate (15).
4. Method according to claim 1, 2 or 3, characterised in that the components (9) are measured in an optical scanning station (7) of the equipping head (1).
5. Revolver-like equipping head (1) comprising a plurality of gripper units (5), mounted on a rotor (3), for drawing by suction electrical components (9, 10) that are to be placed on a substrate (15), the progressively rotatable rotor (3) being displaceable at least in one coordinate direction parallel to the substrate (15), the gripper unit (5) comprising a spindle (13) that is rotatable about an axle and to which the component (9, 10) can be fixed, according to any one of the preceding claims, and the equipping head (1) comprising at least one rotary drive (4) for the spindles (13), characterised in that each of the gripper units (5) comprises a rotary drive (14) for the associated spindle (13).
6. Equipping head (1) according to claim 5, characterised in that the rotor (3) can be driven in opposing directions of rotation.

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